#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
Adafruit_MPU6050 mpu;
LiquidCrystal_I2C lcd(0x27, 16, 2);
void setup() {
  for (int i = 2; i <= 6; i++) {
    pinMode(i, OUTPUT);
  }
  delay(100);
  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
  delay(100);
  Serial.begin(115200);
  if (!mpu.begin()) {
    Serial.println("Failed to find MPU6050 chip");
    while (1) {
      delay(10);
    }
  }
  lcd.init();
  lcd.backlight();          
  lcd.print("Temp:");
  lcd.setCursor(0, 1);
  lcd.print("--- C");
}
void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);
  if ((g.gyro.x == 0) && (g.gyro.y == 0)) {
    digitalWrite(2, LOW); digitalWrite(3, LOW);
    digitalWrite(4, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x > 0) && (g.gyro.y == 0)) {
    digitalWrite(2, HIGH); digitalWrite(3, LOW);
    digitalWrite(4, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x < 0) && (g.gyro.y == 0)) {
    digitalWrite(4, HIGH); digitalWrite(2, LOW);
    digitalWrite(3, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x == 0) && (g.gyro.y > 0)) {
    digitalWrite(3, HIGH); digitalWrite(2, LOW);
    digitalWrite(4, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x == 0) && (g.gyro.y < 0)) {
    digitalWrite(5, HIGH); digitalWrite(2, LOW);
    digitalWrite(3, LOW); digitalWrite(4, LOW);
  } else if ((g.gyro.x > 0) && (g.gyro.y > 0)) {
    digitalWrite(2, HIGH); digitalWrite(3, HIGH);
    digitalWrite(4, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x < 0) && (g.gyro.y > 0)) {
    digitalWrite(4, HIGH); digitalWrite(3, HIGH);
    digitalWrite(2, LOW); digitalWrite(5, LOW);
  } else if ((g.gyro.x < 0) && (g.gyro.y < 0)) {
    digitalWrite(4, HIGH); digitalWrite(5, HIGH);
    digitalWrite(2, LOW); digitalWrite(3, LOW);
  } else if ((g.gyro.x > 0) && (g.gyro.y < 0)) {
    digitalWrite(2, HIGH); digitalWrite(5, HIGH);
    digitalWrite(3, LOW); digitalWrite(4, LOW);
  }
  lcd.setCursor(6, 0);         
  lcd.print("     ");           
  lcd.setCursor(6, 0);
  lcd.print(temp.temperature);  
  lcd.setCursor(0, 1);          
  lcd.print("Chip Temp");       
  Serial.print("Temperature: ");
  Serial.println(temp.temperature);
  delay(500); 
}